CLOSED-LOOP KINEMATIC CALIBRATION OF THE RSI 6-DOF HAND CONTROLLER

被引：29

作者：

HOLLERBACH, JM

LOKHORST, DM

机构：

[1] MCGILL UNIV, DEPT MECH ENGN, MONTREAL, PQ H3A 2B4, CANADA

[2] MCGILL UNIV, DEPT BIOMED ENGN, MONTREAL, PQ H3A 2B4, CANADA

[3] RSI RES LTD, SIDNEY, BC V8L 3X9, CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 03期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1109/70.388777

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets and the joint angle gains. Experimental results are presented and compared to results using a special calibration fixture.

引用

页码：352 / 359

页数：8

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